Merge branch 'master' of github.com:ZhuYanzhen1/MM32_CLion into master

ZhuYanzhen1 · Feb 8, 2022 · 3b57057 · 3b57057
2 parents 39047d3 + 081c35e
commit 3b57057
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Showing 3 changed files with 27 additions and 28 deletions.
diff --git a/program/device/adis16470.c b/program/device/adis16470.c
@@ -14,16 +14,10 @@
 
 #define SPI3_NSS_SET()      GPIO_SetBits(GPIOD, GPIO_Pin_7);
 #define SPI3_NSS_RESET()    GPIO_ResetBits(GPIOD, GPIO_Pin_7);
+#define BURST_READ(x)       (x) = (short) software_spi3_mode3(0x0000);\
+//                            checksum += (x);
 
-static const unsigned char address[] =
-    {
-        0x04, 0x06,  //Gyro_X
-        0x08, 0x0A,  //Gyro_Y
-        0x0C, 0x0E,  //Gyro_Z
-        0x10, 0x12,  //Acc_X
-        0x14, 0x16,  //Acc_Y
-        0x18, 0x1A,  //Acc_Z
-    };
+adis16470_t imu;
 
 /*!
     \brief                          The function to read the registers,
@@ -69,45 +63,46 @@ void adis16470_write_register(unsigned char address_, unsigned char value) {
     spi3_readwrite_byte(tx_tmp);
 }
 
-unsigned short adis_read_prod_id(void) {
-    unsigned short prod_id;
+unsigned int adis_read_register(unsigned int register_address) {
+    unsigned short register_num;
     SPI3_NSS_RESET();
     delayus(1);         // CS时序要求tcs>200ns
-    software_spi3_mode3(0x7200);
+    software_spi3_mode3(register_address);
     SPI3_NSS_SET();
     delayus(25);
 
     SPI3_NSS_RESET();
     delayus(1);         // CS时序要求tcs>200ns
-    prod_id = software_spi3_mode3(0x7200);
+    register_num = software_spi3_mode3(register_address);
     SPI3_NSS_SET();
-    return prod_id;
+    return register_num;
 }
 
-#define BURST_READ(x)   delayus(1);\
-                        (x) = (short) software_spi3_mode3(0x0000);
-
 // 突发传输模式不需要发寄存器的地址。只需要发0x6800启动突发传输，后续的176个位就是寄存器的值。仔细看手册
 void adis_burst_read() {
 //    突发读取功能提供了一种读取一批输出数据寄存器的方法，使用连续的比特流，速率高达1MHz（SCLK）。
 //    这种方法不需要每个16位段之间的停顿时间（见图3）。
 //    如图27所示，通过设置DIN=0x6800来启动这种模式，然后从DOUT中读出序列中的每个寄存器，同时在整个176位的序列中保持CS为低电平。
-
+    unsigned int checksum = 0;
     SPI3_NSS_RESET()
-    spi3_readwrite_byte(0x6800);
+    software_spi3_mode3(0x6800);
 
-//    delayus(1);         // burst_read 两次读取中间不确定要多久，所以需要dealy吗？应该不需要？
-//    imu.diag_star = (short) software_spi3_mode3(0x00);
     BURST_READ(imu.diag_star)
     BURST_READ(imu.x_gyro)
     BURST_READ(imu.y_gyro)
     BURST_READ(imu.z_gyro)
     BURST_READ(imu.x_acll)
     BURST_READ(imu.y_acll)
     BURST_READ(imu.z_acll)
-    BURST_READ(imu.temp)
+    BURST_READ(imu.temp_out)
     BURST_READ(imu.data_cntr)
-    BURST_READ(imu.checknum)
+//    BURST_READ(imu.checknum)
+    imu.checknum = (short) software_spi3_mode3(0x0000);
+
+//
+//TODO 计算checksum是否正确
+//
 
     SPI3_NSS_SET()
+
 }
diff --git a/program/device/adis16470.h b/program/device/adis16470.h
@@ -17,14 +17,14 @@ typedef volatile struct {
     short x_acll;
     short y_acll;
     short z_acll;
-    short temp;
+    short temp_out;
     short data_cntr;
     short checknum;
 } adis16470_t;
 
-extern adis16470_t imu;
+//extern adis16470_t imu;
 
-unsigned short adis_read_prod_id(void);
+unsigned int adis_read_register(unsigned int register_address);
 void adis16470_read_register(const unsigned char *addr_register, unsigned int *rx_point, unsigned char register_num);
 void adis16470_write_register(unsigned char addr, unsigned char value);
 void adis_burst_read();

diff --git a/program/proc_mcu/main.c b/program/proc_mcu/main.c
@@ -32,8 +32,12 @@ int main(void) {
 //        printf("printf test.\r\n");
 //        fflush(stdout);
 
-        adis_read_prod_id();
-//        adis_burst_read();
+//        unsigned int X = adis_read_register(0x1200);
+//        unsigned int Y = adis_read_register(0x1600);
+//        unsigned int Z = adis_read_register(0x1A00);
+
+        adis_burst_read();
+
         LED1_TOGGLE();
         delayms(500);
     }